Multi-shaft motor synchronization control method and multi-shaft motor synchronization control system

A synchronous control, shaft motor technology, applied in the direction of multiple motor speed adjustment, etc., can solve problems such as unsolvable

Inactive Publication Date: 2015-04-15
沈阳新松智能驱动有限公司
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Problems solved by technology

Each axis has its own planned motion path, so the above-mentioned motor synchronization method cannot solve the technical problem that multi-axis motors in industrial robots operate independently and maintain synchronization

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  • Multi-shaft motor synchronization control method and multi-shaft motor synchronization control system

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Embodiment Construction

[0017] The present invention provides a multi-axis motor synchronous control method and a multi-axis motor synchronous control system. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention will be further described in detail below. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0018] The invention provides a multi-axis motor synchronous control method, combining figure 1 As shown, it includes the following steps:

[0019] The industrial computer converts the motion trajectory of the robot into the motion target trajectory corresponding to a plurality of motors, and then the industrial computer transmits the motion target trajectory of each motor to the corresponding motion controller through the CAN bus, and the corresponding motion controller controls the motion of the corresponding motor, so tha...

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Abstract

The invention discloses a multi-shaft motor synchronization control method and a multi-shaft motor synchronization control system; an industrial control computer converts motion trails of a robot into motion target trails of corresponding a plurality of motors, and the industrial control computer transmits the motion target trails of each motor to a corresponding motion controller through a CAN bus; the corresponding motion controller controls the corresponding motor to move, so the plurality of motors can simultaneously move according to self motion target trails. A target point and a corresponding time point commonly output mode can be used to drive an industrial robot to reach the target point in the same time point even if target trail time received by the motion controller is not consistent, so the multi-shaft motor in the industrial robot can singly operate and keep synchronization, thus realizing precision synchronization of the multi-shaft motor; the software time synchronization mode is used, so no hardware cost is not needed so as to reach motor precision synchronization purpose, thus greatly reducing upgrading and rebuilding cost of the industrial robot.

Description

technical field [0001] The invention relates to the field of multi-axis robots, in particular to a multi-axis motor synchronous control method and a multi-axis motor synchronous control system. Background technique [0002] Multi-axis motor synchronization technology has a wide range of applications in the field of robot and machine tool control. In the past, the motor fine synchronization method was mainly aimed at the situation that the motion rules of multi-axis motors were consistent. Most divide the motor into a main shaft and a sub shaft, and the synchronization method is basically to make the motor of the sub shaft track the main shaft motor. However, as the application of robots, especially industrial robots, becomes more and more extensive, the requirements for them are gradually becoming more stringent. Precise synchronization between the various axes of an industrial robot is required. The synchronization here cannot be solved by tracking, because there is no m...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P5/46
Inventor 栾显晔邹风山宋吉来刘晓帆褚明杰孙秉斌
Owner 沈阳新松智能驱动有限公司
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